/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "dma.h"
#include "i2c.h"
#include "tim.h"
#include "gpio.h"
#include "oled.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stdio.h"
float Bias=0,Integral_bias=0,Last_Bias=0;
int t,i,m,j,k;
float error_pre=0.0;    //????
float error=0.0;
float kp,kd;//????
float f=0;


	uint16_t ADCSample[4]={0};
		uint16_t ADCmax[4]={0};
		uint16_t ADCmin[4]={0};
				uint16_t ADZ[4]={0};
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
void PID ()
  { 	HAL_ADC_Start_DMA(&hadc1,(uint32_t*)(ADCSample),4);
			
	for(i=0; i<4; i++)//guiyihua
    {
      if(ADCSample[i] > ADCmax[i])
         ADCmax[i] = ADCSample[i];
      else if(ADCSample[i] <= ADCmin[i])
         ADCmin[i] =  ADCSample[i];
      
      ADZ[i] = (unsigned int)(((float)(ADCSample[i]-ADCmin[i])/(float)(ADCmax[i]-ADCmin[i]))*99);
    }
	
 Bias=2000*((ADZ[0]-ADZ[3])+(ADZ[1]-ADZ[2]))/((ADZ[0]+ADZ[3])+(ADZ[1]+ADZ[2]));
   Integral_bias+=Bias;
		
   Last_Bias=Bias;

			/*if(ADZ[1]>45&&ADZ[2]>45&&ADZ[0]<=10&&ADZ[3]<10)
			{kp=0.1;
			kd=0.1;}
			if(ADZ[1]<35&&ADZ[2]<35)
			{kp=0.29;
			kd=0.2;}
			if(ADZ[1]>=0&&ADZ[2]>=0&&ADZ[0]>20||ADZ[1]>=0&&ADZ[2]>=0&&ADZ[3]>20)
			{kp=0.3;
			kd=0.32;}*/
		
   k=1300+0.2*Bias+0*Integral_bias+0.15*(Bias-Last_Bias);  //1800 you 1300mid  800z
if(k>1800)
	k=1800;
if(k<800)
	k=800;
		     //??
  }
	void cargo()
{
		m=17000;
	for(j=0;j<=m;j=j+1000)
	{
__HAL_TIM_SetCompare(&htim1,TIM_CHANNEL_1,j);	
	}	

}
	void carstop()
{
		m=1000;
	for(j=0;j<=m;j=j+100)
	{
__HAL_TIM_SetCompare(&htim1,TIM_CHANNEL_1,j);	
	}	

}
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{	/*if(ADZ[0]<60&&ADZ[3]<60&&ADZ[1]>20&&ADZ[2]>20)
	{carstop();
	k=800;
	__HAL_TIM_SetCompare(&htim1,TIM_CHANNEL_2,k);
	}
	
	if(ADZ[0]<10&&ADZ[3]<10&&ADZ[1]<10&&ADZ[2]<10)
	{carstop();
	k=1500;
	
	__HAL_TIM_SetCompare(&htim1,TIM_CHANNEL_2,k);
	}*/
	//__HAL_TIM_SetCompare(&htim1,TIM_CHANNEL_2,k);
HAL_GPIO_TogglePin(GPIOC,GPIO_PIN_13);
}
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
	 MX_I2C1_Init();
	 // MX_DMA_Init();
  MX_ADC1_Init();
//  MX_TIM1_Init();
  //MX_TIM2_Init();
 
	OLED_init();
  /* USER CODE BEGIN 2 */
//HAL_TIM_Base_Start_IT(&htim2);

//HAL_ADC_Start_DMA(&hadc1,(uint32_t*)(ADCSample),4);
//HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
//HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_2);  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {				OLED_operate_gram(PEN_CLEAR);
 OLED_printf(3,1,"HUIHUI");


		OLED_draw_line(3,3,3,50,PEN_WRITE);
		//for (int j=1;j++;j<100)
	//	OLED_draw_point(3,j,PEN_WRITE);
      /* Display date Format : yy/mm/dd */
OLED_refresh_gram();
    /* USER CODE END WHILE */
//PID();
f=__HAL_TIM_SetCompare(&htim1,TIM_CHANNEL_1,1000);
		//cargo();

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
